#include <RobotSkillTemplates/statecharts/CoupledInteractionGroup/CoupledInteractionGroupStatechartContext.h>

Inheritance diagram for CoupledInteractionGroupStatechartContext:

Public Member Functions
armarx::DebugDrawerInterfacePrx	getDebugDrawerTopicProxy ()

std::string	getDefaultName () const override
	Retrieve default name of component. More...

std::string	getForceTorqueObserverName ()

ForceTorqueUnitObserverInterfacePrx	getForceTorqueUnitObserver ()

KinematicUnitInterfacePrx	getKinematicUnit ()

std::string	getKinematicUnitObserverName ()

memoryx::ObjectMemoryObserverInterfacePrx	getObjectMemoryObserverProxy ()

std::string	getPlatformUnitObserverName ()

PlatformUnitObserverInterfacePrx	getPlatformUnitObserverProxy ()

PlatformUnitInterfacePrx	getPlatformUnitProxy ()

memoryx::PriorKnowledgeInterfacePrx	getPriorKnowledgeProxy ()

const VirtualRobot::RobotPtr	getRobot ()

Eigen::Matrix4f	getRobotPose ()

RobotStateComponentInterfacePrx	getRobotStateComponent ()

TCPControlUnitInterfacePrx	getTCPControlUnit ()

TCPControlUnitObserverInterfacePrx	getTCPControlUnitObserver ()

ViewSelectionInterfacePrx	getViewSelection ()

memoryx::WorkingMemoryInterfacePrx	getWorkingMemoryProxy ()

void	onConnectStatechartContext () override
	onConnectStatechartContext can be implemented by subclasses More...

void	onInitStatechartContext () override
	onInitStatechartonInitStatechartContext can be implemented by subclasses More...

Public Member Functions inherited from XMLStatechartContext
const StatechartProfilePtr &	getSelectedStatechartProfile () const

Public Member Functions inherited from StatechartContext
ChannelRefPtr	getChannelRef (const std::string &observerName, const std::string &channelName) override

DatafieldRefPtr	getDatafieldRef (ChannelRefPtr channelRef, const std::string &datafieldName) override

DatafieldRefPtr	getDatafieldRef (const DataFieldIdentifier &datafieldIdentifier) override

VariantBasePtr	getDataFromObserver (const DataFieldIdentifierBasePtr &identifier) override

TimedVariantBaseList	getDataListFromObserver (std::string observerName, const DataFieldIdentifierBaseList &identifierList) override

virtual void	onConnectStatechart ()=0
	onConnectStatechart is called before armarx::StatechartContext::startStatechart() and after armarx::StatechartContext::onConnectStatechartContext() More...

virtual void	onExitStatechart ()
	onExitStatechart can be implemented by subclasses More...

virtual void	onInitStatechart ()=0
	onInitStatechart this method is called when the statechart is started. More...

void	setAutoEnterToplevelState (bool autoEnter)
	setAutoStartStatechart controls whether the toplevelstate is automatically entered, when the statechart manager is started, More...

void	setReportingTopic (std::string reportingTopic)

bool	setToplevelState (const armarx::StatePtr &newToplevelState, StringVariantContainerBaseMap startParameters=StringVariantContainerBaseMap())
	setToplevelState initializes `newToplevelState` with the current StatechartContext and the current StatechartContext::statechartManager and sets `newToplevelState` as top-level state on the current StatechartContext::statechartManager. More...

void	startStatechart ()
	startStatechart actives both, the toplevel startchart stored in the variable statechart and the StatechartManager for handling eventprocessing. More...

	StatechartContext ()

	~StatechartContext () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Public Member Functions inherited from StatechartContextInterface
virtual	~StatechartContextInterface ()=default

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Public Attributes inherited from StatechartContext
ConditionHandlerInterfacePrx	conditionHandlerPrx

StatechartEventDistributorPtr	eventDistributor
	The EventListenerInterface instance, that receives events from observers and redirects them to the correct states. More...

std::unordered_map< std::string, ObserverInterfacePrx >	observerMap

StatechartManagerPtr	statechartManager

SystemObserverInterfacePrx	systemObserverPrx

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Member Functions inherited from XMLStatechartContext
void	setSelectedStatechartProfile (const StatechartProfilePtr &value)

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes inherited from StatechartContext
bool	autoEnterToplevelState

std::string	reportingTopic

Profiler::ProfilerPtr	stateReporter

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

custom implementation of the StatechartContext for a statechart

Definition at line 88 of file CoupledInteractionGroupStatechartContext.h.

Member Function Documentation

◆ getDebugDrawerTopicProxy()

armarx::DebugDrawerInterfacePrx getDebugDrawerTopicProxy ( )

inline

Definition at line 146 of file CoupledInteractionGroupStatechartContext.h.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 93 of file CoupledInteractionGroupStatechartContext.h.

◆ getForceTorqueObserverName()

std::string getForceTorqueObserverName ( )

inline

Definition at line 166 of file CoupledInteractionGroupStatechartContext.h.

◆ getForceTorqueUnitObserver()

ForceTorqueUnitObserverInterfacePrx getForceTorqueUnitObserver ( )

inline

Definition at line 161 of file CoupledInteractionGroupStatechartContext.h.

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◆ getKinematicUnit()

KinematicUnitInterfacePrx getKinematicUnit ( )

inline

Definition at line 109 of file CoupledInteractionGroupStatechartContext.h.

◆ getKinematicUnitObserverName()

std::string getKinematicUnitObserverName ( )

inline

Definition at line 113 of file CoupledInteractionGroupStatechartContext.h.

◆ getObjectMemoryObserverProxy()

memoryx::ObjectMemoryObserverInterfacePrx getObjectMemoryObserverProxy ( )

inline

Definition at line 129 of file CoupledInteractionGroupStatechartContext.h.

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◆ getPlatformUnitObserverName()

std::string getPlatformUnitObserverName ( )

inline

Definition at line 152 of file CoupledInteractionGroupStatechartContext.h.

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◆ getPlatformUnitObserverProxy()

PlatformUnitObserverInterfacePrx getPlatformUnitObserverProxy ( )

inline

Definition at line 141 of file CoupledInteractionGroupStatechartContext.h.

◆ getPlatformUnitProxy()

PlatformUnitInterfacePrx getPlatformUnitProxy ( )

inline

Definition at line 137 of file CoupledInteractionGroupStatechartContext.h.

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◆ getPriorKnowledgeProxy()

memoryx::PriorKnowledgeInterfacePrx getPriorKnowledgeProxy ( )

inline

Definition at line 133 of file CoupledInteractionGroupStatechartContext.h.

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◆ getRobot()

const VirtualRobot::RobotPtr getRobot ( )

inline

Definition at line 101 of file CoupledInteractionGroupStatechartContext.h.

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◆ getRobotPose()

Eigen::Matrix4f getRobotPose ( )

Definition at line 122 of file CoupledInteractionGroupStatechartContext.cpp.

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◆ getRobotStateComponent()

RobotStateComponentInterfacePrx getRobotStateComponent ( )

inline

Definition at line 105 of file CoupledInteractionGroupStatechartContext.h.

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◆ getTCPControlUnit()

TCPControlUnitInterfacePrx getTCPControlUnit ( )

inline

Definition at line 117 of file CoupledInteractionGroupStatechartContext.h.

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◆ getTCPControlUnitObserver()

TCPControlUnitObserverInterfacePrx getTCPControlUnitObserver ( )

inline

Definition at line 121 of file CoupledInteractionGroupStatechartContext.h.

◆ getViewSelection()

ViewSelectionInterfacePrx getViewSelection ( )

inline

Definition at line 157 of file CoupledInteractionGroupStatechartContext.h.

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◆ getWorkingMemoryProxy()

memoryx::WorkingMemoryInterfacePrx getWorkingMemoryProxy ( )

inline

Definition at line 125 of file CoupledInteractionGroupStatechartContext.h.

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◆ onConnectStatechartContext()

void onConnectStatechartContext ( )

overridevirtual

onConnectStatechartContext can be implemented by subclasses

Override this method to retrieve the proxies and topics specified in armarx::StatechartContext::onInitStatechart() via armarx::Component::getProxy() and armarx::Component::getTopic().

This method is called by armarx::StatechartContext::onConnectComponent().

Reimplemented from StatechartContext.

Definition at line 69 of file CoupledInteractionGroupStatechartContext.cpp.

◆ onInitStatechartContext()

void onInitStatechartContext ( )

overridevirtual

onInitStatechartonInitStatechartContext can be implemented by subclasses

Override this method to specify required proxies and topics via armarx::Component::usingProxy(), armarx::Component::usingTopic() and armarx::Component::offeringTopic().

This method is calle by armarx::StatechartContext::onInitComponent().

Reimplemented from StatechartContext.

Definition at line 41 of file CoupledInteractionGroupStatechartContext.cpp.

The documentation for this class was generated from the following files:

RobotSkillTemplates/statecharts/CoupledInteractionGroup/CoupledInteractionGroupStatechartContext.h
RobotSkillTemplates/statecharts/CoupledInteractionGroup/CoupledInteractionGroupStatechartContext.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getDebugDrawerTopicProxy()

◆ getDefaultName()

◆ getForceTorqueObserverName()

◆ getForceTorqueUnitObserver()

◆ getKinematicUnit()

◆ getKinematicUnitObserverName()

◆ getObjectMemoryObserverProxy()

◆ getPlatformUnitObserverName()

◆ getPlatformUnitObserverProxy()

◆ getPlatformUnitProxy()

◆ getPriorKnowledgeProxy()

◆ getRobot()

◆ getRobotPose()

◆ getRobotStateComponent()

◆ getTCPControlUnit()

◆ getTCPControlUnitObserver()

◆ getViewSelection()

◆ getWorkingMemoryProxy()

◆ onConnectStatechartContext()

◆ onInitStatechartContext()